After a month and constant running everyday I'm impressed with the performance but mapping and guidance ability is sadly lacking.  It takes almost 2 weeks to get the map and the last couple of those days the map gets corrupt and my floor plan no longer resembles my house floor plan.  The poor little thing gets lost and fails to complete all the rooms.  The vacuum seems to work well but being able to tell it to vacuum the kitchen after dinner which is a big reason I bought this model is sadly a fail.  I'm giving it one more chance to map and upon another fail, sadly, I'll probably return it.